Please use this identifier to cite or link to this item:
https://doi.org/10.1007/s00170-012-4629-7
Title: | Orientation planning of robot end-effector using augmented reality | Authors: | Fang, H.C. Ong, S.K. Nee, A.Y.C. |
Keywords: | Augmented reality End-effector orientation planning Human-robot interaction Robot programming |
Issue Date: | 2013 | Citation: | Fang, H.C., Ong, S.K., Nee, A.Y.C. (2013). Orientation planning of robot end-effector using augmented reality. International Journal of Advanced Manufacturing Technology 67 (9-12) : 2033-2049. ScholarBank@NUS Repository. https://doi.org/10.1007/s00170-012-4629-7 | Abstract: | This paper presents a methodology for planning the orientation of the end-effector for an industrial robot based on the application of augmented reality. The targeted applications are those where the end-effector is constrained to follow a visible path, which position and model are unknown, at suitable inclination angles with respect to the path. The proposed approach enables the users to create a list of control points interactively on a parameterized curve model, define the orientation of the end-effector associated with each control point, and generate a ruled surface representing the path to be planned. An approximated timeoptimal trajectory, which is a determined subject to robot actuators and joint velocity constraints using convex optimization techniques, is implemented to simulate a virtual robot, allowing the users to visually evaluate the trajectory planning process. A case study is presented and discussed. © Springer-Verlag London 2012. | Source Title: | International Journal of Advanced Manufacturing Technology | URI: | http://scholarbank.nus.edu.sg/handle/10635/61038 | ISSN: | 02683768 | DOI: | 10.1007/s00170-012-4629-7 |
Appears in Collections: | Staff Publications |
Show full item record
Files in This Item:
There are no files associated with this item.
Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.